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<a href="distance__queries_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//*  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="distance__requests_8h.html">collision/solvers/distance_requests.h</a>&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__helpers_8h.html">collision/solvers/fcl/fcl_helpers.h</a>&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">namespace </span>detail {</div><div class="line"><a name="l00008"></a><span class="lineno"><a class="line" href="namespacecollision_1_1detail.html#ab7b02a360a11b029804db694afe60e56">    8</a></span>&#160;std::size_t <span class="keyword">inline</span> <a class="code" href="namespacecollision_1_1detail.html#ab7b02a360a11b029804db694afe60e56">distance_default</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;                                    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;                                    <a class="code" href="classcollision_1_1_distance_result.html">DistanceResult</a> &amp;res,</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;                                    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_distance_request.html">DistanceRequest</a> &amp;req) {</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *obj1_entity;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">FCL_COLLISION_ENTITY_TYPE</a> obj2_entity_type =</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a976460fe4920622d95f89d477c8f4ad8">get_object_fcl_entity_type</a>(&amp;obj1, obj1_entity);</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keywordflow">if</span> (obj2_entity_type == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">COLLISION_ENTITY_TYPE_FCL_OBJECT</a>) {</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <span class="keywordtype">double</span> <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a> = 0;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keywordtype">int</span> ret =</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;        (static_cast&lt;FCLCollisionObject *&gt;(obj1_entity))</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;            -&gt;calculateDistance(obj2, <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>, req.<a class="code" href="classcollision_1_1_distance_request.html#a9d05ccdd1528d56e32e696b99b1f69f0">computation_tolerance</a>);</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="keywordflow">if</span> (!ret) {</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      res.<a class="code" href="classcollision_1_1_distance_result.html#aa80938b0c185b3041d3acd79e881afb5">setMinDistance</a>(<a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>);</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    }</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (obj2_entity_type == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7">COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP</a>) {</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keywordtype">double</span> <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a> = 0;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keywordtype">int</span> ret =</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        (static_cast&lt;FCLCollisionObjectGroup *&gt;(obj1_entity))</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;            -&gt;calculateDistance(obj2, <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>, req.<a class="code" href="classcollision_1_1_distance_request.html#a9d05ccdd1528d56e32e696b99b1f69f0">computation_tolerance</a>);</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keywordflow">if</span> (!ret) {</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      res.<a class="code" href="classcollision_1_1_distance_result.html#aa80938b0c185b3041d3acd79e881afb5">setMinDistance</a>(<a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>);</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    }</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  }</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;}</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="namespacecollision_1_1detail.html#a5f4197ef86c31e1ca05c5c8aa3a114e2">   41</a></span>&#160;std::size_t <span class="keyword">inline</span> <a class="code" href="namespacecollision_1_1detail.html#a5f4197ef86c31e1ca05c5c8aa3a114e2">distance_tolerance_neg</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;                                          <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;                                          <a class="code" href="classcollision_1_1_distance_result.html">DistanceResult</a> &amp;res,</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;                                          <span class="keyword">const</span> <a class="code" href="classcollision_1_1_distance_request.html">DistanceRequest</a> &amp;req) {</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *obj1_entity;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">FCL_COLLISION_ENTITY_TYPE</a> obj2_entity_type =</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a976460fe4920622d95f89d477c8f4ad8">get_object_fcl_entity_type</a>(&amp;obj1, obj1_entity);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordflow">if</span> (obj2_entity_type == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">COLLISION_ENTITY_TYPE_FCL_OBJECT</a>) {</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keywordtype">double</span> <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a> = 0;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordtype">int</span> ret =</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        (static_cast&lt;FCLCollisionObject *&gt;(obj1_entity))</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;            -&gt;calculateDistanceNegTolerance(obj2, <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>,</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;                                            req.<a class="code" href="classcollision_1_1_distance_request.html#ae704d04c9270732c0546836e441a4f3f">dist_node_type</a> == <a class="code" href="namespacecollision.html#a3bbf810574830553bd17aafbd8564451a8d349a60446229f9254fc56c00ad4ea9">DNT_AABB</a></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;                                                ? <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a8994da1043cce29315492db75858e052aa79aa311413cf861fb506e0073be8c31">TOLERANCE_CHECK_BB</a></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;                                                : <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a8994da1043cce29315492db75858e052adfe12633fe0ac3a9028c806be9d07844">TOLERANCE_CHECK_NARROWPHASE</a>,</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                                            req.<a class="code" href="classcollision_1_1_distance_request.html#a9d05ccdd1528d56e32e696b99b1f69f0">computation_tolerance</a>);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordflow">if</span> (ret &gt;= 0) {</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      res.<a class="code" href="classcollision_1_1_distance_result.html#aa80938b0c185b3041d3acd79e881afb5">setMinDistance</a>(<a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>);</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a> &gt; -1 * (abs(req.<a class="code" href="classcollision_1_1_distance_request.html#a14824467e836a1f1fccfb66af55b07de">compare_tolerance</a>)))</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        res.<a class="code" href="classcollision_1_1_distance_result.html#ab111b66d4f381ec2aadf6d5a21ab4a3f">setTolerancePassed</a>(<span class="keyword">true</span>);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keywordflow">else</span></div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        res.<a class="code" href="classcollision_1_1_distance_result.html#ab111b66d4f381ec2aadf6d5a21ab4a3f">setTolerancePassed</a>(<span class="keyword">false</span>);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    }</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (obj2_entity_type == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7">COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP</a>) {</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordtype">double</span> <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a> = 0;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordtype">int</span> ret =</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        (static_cast&lt;FCLCollisionObjectGroup *&gt;(obj1_entity))</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;            -&gt;calculateDistanceNegTolerance(obj2, <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>,</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;                                            req.<a class="code" href="classcollision_1_1_distance_request.html#ae704d04c9270732c0546836e441a4f3f">dist_node_type</a> == <a class="code" href="namespacecollision.html#a3bbf810574830553bd17aafbd8564451a8d349a60446229f9254fc56c00ad4ea9">DNT_AABB</a></div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                                                ? <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a8994da1043cce29315492db75858e052aa79aa311413cf861fb506e0073be8c31">TOLERANCE_CHECK_BB</a></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                                                : <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a8994da1043cce29315492db75858e052adfe12633fe0ac3a9028c806be9d07844">TOLERANCE_CHECK_NARROWPHASE</a>,</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                                            req.<a class="code" href="classcollision_1_1_distance_request.html#a9d05ccdd1528d56e32e696b99b1f69f0">computation_tolerance</a>);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordflow">if</span> (ret &gt;= 0) {</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      res.<a class="code" href="classcollision_1_1_distance_result.html#aa80938b0c185b3041d3acd79e881afb5">setMinDistance</a>(<a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a> &gt; -1 * (abs(req.<a class="code" href="classcollision_1_1_distance_request.html#a14824467e836a1f1fccfb66af55b07de">compare_tolerance</a>)))</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        res.<a class="code" href="classcollision_1_1_distance_result.html#ab111b66d4f381ec2aadf6d5a21ab4a3f">setTolerancePassed</a>(<span class="keyword">true</span>);</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keywordflow">else</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        res.<a class="code" href="classcollision_1_1_distance_result.html#ab111b66d4f381ec2aadf6d5a21ab4a3f">setTolerancePassed</a>(<span class="keyword">false</span>);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    }</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  }</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;}</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;} <span class="comment">// namespace detail</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">   92</a></span>&#160;std::size_t <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                     <a class="code" href="classcollision_1_1_distance_result.html">DistanceResult</a> &amp;res, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_distance_request.html">DistanceRequest</a> &amp;req) {</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordflow">if</span> (req.<a class="code" href="classcollision_1_1_distance_request.html#ae0893a15990d9fee6522cf6bd58cf5f1">dist_request_type</a> == <a class="code" href="namespacecollision.html#a635c8291d80696e1bb292dbb51c8d447a2f1fad8e88ee41674d52b909916119fe">DRT_DISTANCE</a>) {</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1detail.html#ab7b02a360a11b029804db694afe60e56">detail::distance_default</a>(obj1, obj2, res, req);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (req.<a class="code" href="classcollision_1_1_distance_request.html#ae0893a15990d9fee6522cf6bd58cf5f1">dist_request_type</a> == <a class="code" href="namespacecollision.html#a635c8291d80696e1bb292dbb51c8d447a9f0b2f5aaa70665345134e2b8fc007a9">DRT_TOLERANCE_NEG</a>) {</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1detail.html#a5f4197ef86c31e1ca05c5c8aa3a114e2">detail::distance_tolerance_neg</a>(obj1, obj2, res, req);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  } <span class="keywordflow">else</span></div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;}</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;} <span class="comment">// namespace collision</span></div><div class="ttc" id="classcollision_1_1_distance_request_html_ae704d04c9270732c0546836e441a4f3f"><div class="ttname"><a href="classcollision_1_1_distance_request.html#ae704d04c9270732c0546836e441a4f3f">collision::DistanceRequest::dist_node_type</a></div><div class="ttdeci">DistanceNodeType dist_node_type</div><div class="ttdef"><b>Definition:</b> <a href="distance__requests_8h_source.html#l00037">distance_requests.h:37</a></div></div>
<div class="ttc" id="namespacecollision_html_a635c8291d80696e1bb292dbb51c8d447a9f0b2f5aaa70665345134e2b8fc007a9"><div class="ttname"><a href="namespacecollision.html#a635c8291d80696e1bb292dbb51c8d447a9f0b2f5aaa70665345134e2b8fc007a9">collision::DRT_TOLERANCE_NEG</a></div><div class="ttdef"><b>Definition:</b> <a href="distance__requests_8h_source.html#l00007">distance_requests.h:7</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">collision::solvers::solverFCL::COLLISION_ENTITY_TYPE_FCL_OBJECT</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00017">fcl_entity_type.h:17</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7">collision::solvers::solverFCL::COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00018">fcl_entity_type.h:18</a></div></div>
<div class="ttc" id="distance__requests_8h_html"><div class="ttname"><a href="distance__requests_8h.html">distance_requests.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">collision::solvers::solverFCL::FCL_COLLISION_ENTITY_TYPE</a></div><div class="ttdeci">FCL_COLLISION_ENTITY_TYPE</div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00014">fcl_entity_type.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">collision::solvers::solverFCL::SolverEntity_FCL</a></div><div class="ttdef"><b>Definition:</b> <a href="solver__entity__fcl_8h_source.html#l00010">solver_entity_fcl.h:10</a></div></div>
<div class="ttc" id="namespacecollision_html_a5bc2e62fec3c4891d44fe2863d3d8102"><div class="ttname"><a href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">collision::distance</a></div><div class="ttdeci">std::size_t distance(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, DistanceResult &amp;res, const DistanceRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="distance__queries_8cc_source.html#l00092">distance_queries.cc:92</a></div></div>
<div class="ttc" id="classcollision_1_1_distance_result_html_ab111b66d4f381ec2aadf6d5a21ab4a3f"><div class="ttname"><a href="classcollision_1_1_distance_result.html#ab111b66d4f381ec2aadf6d5a21ab4a3f">collision::DistanceResult::setTolerancePassed</a></div><div class="ttdeci">bool setTolerancePassed(bool res)</div><div class="ttdef"><b>Definition:</b> <a href="distance__requests_8h_source.html#l00018">distance_requests.h:18</a></div></div>
<div class="ttc" id="namespacecollision_1_1detail_html_a5f4197ef86c31e1ca05c5c8aa3a114e2"><div class="ttname"><a href="namespacecollision_1_1detail.html#a5f4197ef86c31e1ca05c5c8aa3a114e2">collision::detail::distance_tolerance_neg</a></div><div class="ttdeci">std::size_t distance_tolerance_neg(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, DistanceResult &amp;res, const DistanceRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="distance__queries_8cc_source.html#l00041">distance_queries.cc:41</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="namespacecollision_1_1detail_html_ab7b02a360a11b029804db694afe60e56"><div class="ttname"><a href="namespacecollision_1_1detail.html#ab7b02a360a11b029804db694afe60e56">collision::detail::distance_default</a></div><div class="ttdeci">std::size_t distance_default(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, DistanceResult &amp;res, const DistanceRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="distance__queries_8cc_source.html#l00008">distance_queries.cc:8</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a976460fe4920622d95f89d477c8f4ad8"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a976460fe4920622d95f89d477c8f4ad8">collision::solvers::solverFCL::get_object_fcl_entity_type</a></div><div class="ttdeci">FCL_COLLISION_ENTITY_TYPE get_object_fcl_entity_type(const CollisionObject *obj2)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__helpers_8h_source.html#l00014">fcl_helpers.h:14</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a8994da1043cce29315492db75858e052aa79aa311413cf861fb506e0073be8c31"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a8994da1043cce29315492db75858e052aa79aa311413cf861fb506e0073be8c31">collision::solvers::solverFCL::TOLERANCE_CHECK_BB</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__decl_8h_source.html#l00022">fcl_decl.h:22</a></div></div>
<div class="ttc" id="classcollision_1_1_distance_request_html"><div class="ttname"><a href="classcollision_1_1_distance_request.html">collision::DistanceRequest</a></div><div class="ttdef"><b>Definition:</b> <a href="distance__requests_8h_source.html#l00025">distance_requests.h:25</a></div></div>
<div class="ttc" id="classcollision_1_1_distance_request_html_a14824467e836a1f1fccfb66af55b07de"><div class="ttname"><a href="classcollision_1_1_distance_request.html#a14824467e836a1f1fccfb66af55b07de">collision::DistanceRequest::compare_tolerance</a></div><div class="ttdeci">double compare_tolerance</div><div class="ttdef"><b>Definition:</b> <a href="distance__requests_8h_source.html#l00039">distance_requests.h:39</a></div></div>
<div class="ttc" id="classcollision_1_1_distance_request_html_a9d05ccdd1528d56e32e696b99b1f69f0"><div class="ttname"><a href="classcollision_1_1_distance_request.html#a9d05ccdd1528d56e32e696b99b1f69f0">collision::DistanceRequest::computation_tolerance</a></div><div class="ttdeci">double computation_tolerance</div><div class="ttdef"><b>Definition:</b> <a href="distance__requests_8h_source.html#l00038">distance_requests.h:38</a></div></div>
<div class="ttc" id="classcollision_1_1_distance_result_html"><div class="ttname"><a href="classcollision_1_1_distance_result.html">collision::DistanceResult</a></div><div class="ttdef"><b>Definition:</b> <a href="distance__requests_8h_source.html#l00009">distance_requests.h:9</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a8994da1043cce29315492db75858e052adfe12633fe0ac3a9028c806be9d07844"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a8994da1043cce29315492db75858e052adfe12633fe0ac3a9028c806be9d07844">collision::solvers::solverFCL::TOLERANCE_CHECK_NARROWPHASE</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__decl_8h_source.html#l00021">fcl_decl.h:21</a></div></div>
<div class="ttc" id="namespacecollision_html_a635c8291d80696e1bb292dbb51c8d447a2f1fad8e88ee41674d52b909916119fe"><div class="ttname"><a href="namespacecollision.html#a635c8291d80696e1bb292dbb51c8d447a2f1fad8e88ee41674d52b909916119fe">collision::DRT_DISTANCE</a></div><div class="ttdef"><b>Definition:</b> <a href="distance__requests_8h_source.html#l00007">distance_requests.h:7</a></div></div>
<div class="ttc" id="fcl__helpers_8h_html"><div class="ttname"><a href="fcl__helpers_8h.html">fcl_helpers.h</a></div></div>
<div class="ttc" id="namespacecollision_html_a3bbf810574830553bd17aafbd8564451a8d349a60446229f9254fc56c00ad4ea9"><div class="ttname"><a href="namespacecollision.html#a3bbf810574830553bd17aafbd8564451a8d349a60446229f9254fc56c00ad4ea9">collision::DNT_AABB</a></div><div class="ttdef"><b>Definition:</b> <a href="distance__requests_8h_source.html#l00008">distance_requests.h:8</a></div></div>
<div class="ttc" id="classcollision_1_1_distance_request_html_ae0893a15990d9fee6522cf6bd58cf5f1"><div class="ttname"><a href="classcollision_1_1_distance_request.html#ae0893a15990d9fee6522cf6bd58cf5f1">collision::DistanceRequest::dist_request_type</a></div><div class="ttdeci">DistanceRequestType dist_request_type</div><div class="ttdef"><b>Definition:</b> <a href="distance__requests_8h_source.html#l00036">distance_requests.h:36</a></div></div>
<div class="ttc" id="classcollision_1_1_distance_result_html_aa80938b0c185b3041d3acd79e881afb5"><div class="ttname"><a href="classcollision_1_1_distance_result.html#aa80938b0c185b3041d3acd79e881afb5">collision::DistanceResult::setMinDistance</a></div><div class="ttdeci">double setMinDistance(double res)</div><div class="ttdef"><b>Definition:</b> <a href="distance__requests_8h_source.html#l00016">distance_requests.h:16</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html"><div class="ttname"><a href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></div><div class="ttdoc">Base class for CollisionObjects and some of their groups.</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00047">collision_object.h:47</a></div></div>
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